System, apparatus and method for supporting and/or positioning a patient before, during, or after a medical procedure

ABSTRACT

A system for supporting or positioning a patient before, during, or after a medical procedure can include a platform configured to support at least a portion of a patient. A support column can be positioned beneath the platform. A base can be positioned beneath the support column and configured to support the support column. The base can include at least one drive wheel configured to contact a ground surface and move the platform with respect to the ground surface. A drive assist user interface module can be operatively connected to the at least one drive wheel. The drive assist user interface module can be configured to permit an operator of the system to selectively control movement of the at least one drive wheel. The drive assist user interface module can be part of or be attached to an attachment that includes a plate having a top surface. In one configuration, the top surface of the plate can be configured to extend parallel with a top surface of the platform when the attachment is attached to the platform.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.17/200,267 filed Mar. 12, 2021, which is a continuation of U.S.application Ser. No. 15/610,486 filed May 31, 2017, now U.S. Pat. No.10,945,905 which is hereby incorporated by reference in its entirety.

BACKGROUND

Patient support apparatuses, such as surgical tables, medicalexamination platforms, and hospital beds, are well known. This equipmentis expected to support the weight of a patient before, during, and aftera medical procedure, while giving the medical team unencumbered accessto the surgical site and the ability to maneuver, position, orreposition the patient. Certain prior art equipment is capable ofsensing changes in weight distribution, which can help the medical teamproperly position or reposition a patient, and prevent undesirable orinadvertent movement of the patient.

For example, U.S. Pat. No. 7,784,126 discloses an operating table havinga support column and a table panel mounted on the support column. Thetable has a force measurement system for determining the weight of thetable panel and of the patient on the table panel. The weightmeasurement is used to prevent tipping of the table.

U.S. Published Patent Application No. 2012/047655 discloses a patientbed having a base, an upper frame above the base, and a lift system toraise and lower the upper frame relative to the base between a lowposition and a high position. The bed can include a scale system that iscoupled to or included as part of control circuitry. The scale systemsenses an amount of weight carried by upper frame. Threshold angles,i.e., angles at which an adverse situation such as tipping might occur,can be adjusted based on the amount of weight sensed by scale system.

U.S. Pat. No. 7,610,637 discloses patient supports having various weightsensors for determining the weight of the patient. A user interface isprovided to indicate the addition or subtraction of medical equipment,such as an IV pole, to the patient support so that the weight of themedical equipment can be accounted for.

U.S. Pat. No. 7,255,366 discloses a system for monitoring patient weighton a patient support and detecting patient movement, such as an attemptto exit the patient support. Load cells are used to monitor weight onvarious parts of the support. A control system corrects measurementsbased on position or configuration of the support.

U.S. Pat. No. 5,628,078 discloses a surgical table having severalremovable sections that permit various possible configurations. Sensorsdetect a table configuration and send appropriate signals to acontroller. Each of the above patents and publications are herebyincorporated by reference in their entirety.

The above-described and other conventional equipment have severallimitations. For example, with at least certain of the prior artdevices, accurate measurement of changes in weight distribution can bedifficult to achieve. Some prior art devices are difficult or cumbersometo maneuver. The Steris® 5085 SRT surgical table has permanent handlesmounted in the head or foot section, which, in certain situations,undesirably extend the overall length of the table. Certain prior arttables are not particularly stable, and can be expensive to manufacture.For instance, many prior art surgical tables utilize a vertical,hydraulic column, with telescoping block sections, to raise and lowerthe patient support platform. These tables can be expensive tomanufacture, especially when designed to move downward close to theground, and include oil in the hydraulic system that can inadvertentlyleak.

SUMMARY

In one embodiment, the presently disclosed technology is directed to asystem for supporting or positioning a patient before, during, or aftera medical procedure. The system can include a platform configured tosupport at least a portion of a patient. A support column can bepositioned beneath the platform. A base can be positioned beneath thesupport column and configured to support the support column. The basecan include at least one drive wheel configured to contact a groundsurface and assist a user in moving the platform with respect to theground surface. A drive assist user interface module can be operativelyconnected to the at least one drive wheel. The drive assist userinterface module can be configured to permit an operator of the systemto selectively control movement of the at least one drive wheel. Thedrive assist user interface module can be part of or attached to anattachment that includes a plate having a top surface. In one positionor configuration, the top surface of the plate can be configured to becoplanar with or parallel to a top surface of the platform when theattachment is attached to the platform. In one or more other positionsor configurations, the top surface of the plate can be configured toextend at an angle with respect to the top surface of the platform whenthe attachment is attached to the platform.

In another embodiment, the presently disclosed technology is directed toa system for supporting or positioning a patient before, during, orafter a medical procedure. The system can include a platform configuredto support at least a portion of a patient. A support column can bepositioned beneath the platform. At least a portion of the supportcolumn, such as a cover thereof, can surround a support and liftmechanism configured to support, raise and lower the platform. Thesupport and lift mechanism can include a first linkage system and asecond linkage system. The first linkage system can include at least oneupper 4-bar linkage and at least one lower 4-bar linkage. The secondlinkage system can include at least two link bars connected in seriesand can be configured to act in a plane perpendicular to the firstlinkage system. A base can be positioned beneath the support column andconfigured to support the support column. The base can include at leastone drive wheel configured to contact a ground surface and move theplatform with respect to the ground surface.

In yet another embodiment, the presently disclosed technology isdirected to a system for supporting or positioning a patient before,during, or after a medical procedure. The system can include a platformconfigured to support at least a portion of a patient. A support columncan be positioned beneath the platform. A base can be positioned beneaththe support column and configured to support the support column. Thebase can include at least three spaced-apart casters that can beconfigured to contact a ground surface and allow mobility of theplatform. The base can also include or surround at least one drive wheelconfigured to contact a ground surface and move the platform withrespect to the ground surface. Additionally, the base can include atleast three load sensing/floor lift mechanisms that can each beconfigured to contact a ground surface and prevent the platform frombeing inadvertently moved with respect to the ground surface. Each ofthe at least three load sensing/floor lift mechanisms can include asupport foot and a motor. The motor can be configured to raise thesupport foot to permit the caster wheel to contact the ground surface.The motor can also be configured to lower the support foot to at leastslightly raise the base and prevent one or more caster wheels fromcontacting the ground surface.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing summary, as well as the following detailed description ofthe invention, will be better understood when read in conjunction withthe appended drawings. For the purpose of illustrating the invention,there are shown in the drawings various illustrative embodiments. Itshould be understood, however, that the invention is not limited to theprecise arrangements and instrumentalities shown. In the drawings:

FIG. 1 is a cross-sectional side elevation view of at least a portion ofa system or apparatus according to an embodiment of the presentdisclosure, wherein certain components are shown as transparent ortranslucent, or even omitted, for clarity;

FIG. 2 is a perspective view of a support and lift mechanism accordingto one embodiment of the present disclosure, wherein the mechanism isshown in an extended or expanded configuration;

FIG. 3 is another perspective view of the mechanism shown in FIG. 2;

FIG. 4 is a side elevation view of the mechanism shown in FIG. 3;

FIG. 5 is a front elevation view of the mechanism shown in FIG. 3;

FIG. 6 is a top plan view of the mechanism shown in FIG. 3;

FIG. 7 is a perspective view of the mechanism shown in a middle orpartially expanded configuration;

FIG. 8 is a side elevation view of the mechanism shown in FIG. 7;

FIG. 9 is a front elevation view of the mechanism shown in FIG. 7;

FIG. 10 is a perspective view of the mechanism shown in a compressed orcollapsed configuration;

FIG. 11 is a side elevation view of the mechanism shown in FIG. 10;

FIG. 12 is a front elevation view of the mechanism shown in FIG. 10;

FIG. 13 is a top plan view of the mechanism shown in FIG. 10;

FIG. 14A is a perspective view of a table platform or first attachmentaccording to one embodiment of the present disclosure, wherein a userinterface module is shown on the table platform or attachment in anupward or deployed position;

FIG. 14B is another perspective view of the attachment shown in FIG.14A;

FIG. 14C is yet another perspective view of the attachment shown in FIG.14A with certain features removed for clarity, wherein the module isshown in a downward or stowed position;

FIG. 14D is a perspective view of the attachment shown in FIG. 14C,wherein the module is shown between the deployed and stowed positions;

FIG. 15 is a magnified partially exploded perspective view of theattachment shown in FIG. 14 with certain features removed for clarity;

FIG. 16 is a bottom perspective view of at least a portion of the systemor apparatus of one embodiment of the present disclosure;

FIG. 17 is a magnified view of a socket or receptacle of one embodimentof the present disclosure;

FIG. 18 is a bottom perspective view of a portion of an attachment ofone embodiment of the present disclosure, wherein a segment of theattachment is omitted for clarity;

FIG. 19 is a perspective view of at least a portion of a base accordingto one embodiment of the present disclosure;

FIG. 20 is another perspective view thereof;

FIG. 21A is a magnified perspective view of a least a portion thereof;

FIG. 21B is a cross-sectional side elevation view of FIG. 21A andshowing a drive assist mechanism in an upward or stowed position;

FIG. 21C is a view similar to that of FIG. 21B, but where the driveassist mechanism is shown in a downward position;

FIG. 22 is a cross-sectional view of at least a portion of a componentof the base shown in FIG. 19 taken through a load cell beam, wherein afoot is shown in a retracted position;

FIG. 23 is another cross-section view of the structure shown in FIG. 22,wherein the foot is shown in an extended position;

FIG. 24 is a cross-sectional view of at least a portion of a componentof the base shown in FIG. 19 taken through a centerline of a drive anddriven pulley; and

FIG. 25 is a schematic diagram of a computing system of one embodimentof the present disclosure.

DETAILED DESCRIPTION

While systems, apparatus and methods are described herein by way ofexamples and embodiments, those skilled in the art recognize that thesystems, apparatus and methods of the presently disclosed technology arenot limited to the embodiments or drawings described. It should beunderstood that the drawings and description are not intended to belimited to the particular form disclosed. Rather, the intention coversall modifications, equivalents and alternatives falling within thespirit and scope of the appended claims. Any headings used herein arefor organizational purposes only and are not meant to limit the scope ofthe description or the claims. As used herein, the words “is” and “may”are used in a permissive sense (i.e., meaning having the potential to)rather than the mandatory sense (i.e., meaning must). Similarly, thewords “include,” “including,” and “includes” mean including, but notlimited to. Unless specifically set forth herein, the terms “a,” “an”and “the” are not limited to one element but instead should be read asmeaning “at least one.” The term “actuator” is broadly defined herein tomean any component capable of at least initiating movement or control ofa mechanism, a part, or a system, and includes a trigger, a button, aswitch or any other enabling device. The terminology includes the wordsnoted above, derivatives thereof and words of similar import.

Referring to the drawings in detail, wherein like numerals indicate likeelements throughout, the presently disclosed technology is directed toan at least partially modular, multi-component system, apparatus andmethod that allows a surgeon and/or a medical team to better monitor,support, position, reposition and/or maneuver a patient before, during,and/or after surgery through electrical and/or mechanical means. Thepresently disclosed technology allows the surgeon and/or the medicalteam to support the patient vertically above the floor or ground, whileallowing the surgeon and/or medical team to more quickly and easily moveor position the patient, and/or provides other functionality andbenefits. The term “patient” is broadly defined herein to include humanpatients of all sizes, genders and demographics, as well as animals(e.g., for veterinarian purposes). The system or apparatus, generallydesigned 100, may be referred to herein as a surgical table. Thesurgical table can be in any of a variety of types or styles, and can bemodified in size, shape and/or configuration from that shown anddescribed herein.

FIG. 1 shows one embodiment of a surgical table 100 of the presentlydisclosed technology. The surgical table 100 can include an upperplatform 102, a lower base 400, a support column 300 therebetween, andtable support or first attachment 500. The surgical table 100 can alsoinclude additional attachments or modules, such as but not limited to asecond attachment 800 and a third attachment 900. In one aspect, theattachments 500, 800, 900 can serve to extend the length of the surgicaltable 100, thereby allowing the surgical table 100 to fully supportpatients of different sizes and lengths. A patient can be placed or laiddirectly on the platform 102 (and can extend at least partially onto theattachment 500 or one or more other attachments), and at least a portionof the base 400 can contact the floor or ground surface 104. The supportcolumn 300 can be selectively adjustable, as described in detail below,to allow the surgeon and/or the surgical team to adjust the position ofthe platform 102 with respect to the base 400.

As described in further detail below, the surgical table 100 can includea drive assist assembly that can include a drive assist mechanism 700and a drive assist user interface module 508. The mechanism 700 canreside in the base 400 and the module 508 can reside on or be connectedto one or more attachments to the upper platform 102 and at either endthereof. The mechanism 700 can include at least one drive wheel 600, andthe mechanism 700 can be configured to move or pivot the at least onedrive wheel 600 between a stowed position and a use position so as toengage and disengage the ground surface 104. The module 508, incombination with one or more other components or parts of the surgicaltable 100, can allow the surgeon or the medical team to assist inpositioning the surgical table 100, control various functionality of thesurgical table 100, and/or position, re-position, or move the surgicaltable 100 in a quick and efficient manner.

Referring to FIGS. 1-13, one or more embodiments of the support column300 can include a support and lift mechanism, generally designated 302,having a first linkage system 304 and a separate second linkage system306 (see FIG. 2). The two linkage systems 304, 306 can be connected orattached at one, two, or more points, and can complement each other toraise and/or lower the platform 102 in an efficient, stable and/orcompact manner. As evident from the structure described below, at leastthe first linkage system 304 (either alone or in combination with thesecond linkage system 306) can provide resistance to moments of thesurgical table 100 about the roll or tilt (i.e., x axis), pitch orTrendelenburg (i.e., y axis), and yaw or table twist about the vertical(i.e., z axis), and/or resistance to forces in the lateral direction. Iffirst and second linkage systems 304, 306 are mounted in perpendicularplanes, the combination also provides resistance to forces in thelongitudinal direction.

The first linkage system 304 can include at least one or twospaced-apart and parallel sets 308 a, 308 b of upper 4-bar linkages thatcan be connected by axles and supported on bearings, such as taperedroller bearings, ball bearings or bushings. One set 308 a of the upper4-bar linkages can be on the left side of the mechanism 302, and theother set 308 b of the upper 4- bar linkages can be on the right side ofthe mechanism 302. The first linkage system 304 can also include atleast one or two spaced-apart and parallel sets 310 a, 310 b of lower4-bar linkages that can be connected by axles and supported on taperedroller bearings. One set 310 a of the lower 4-bar linkages can be on theleft side of the mechanism 302, and the other set 310 b of the lower4-bar linkages can be on the right side of the mechanism 302. In total,in one embodiment, the first linkage system 304 can include four 4-barlinkages. Those skilled in the art understand that a 4-bar (or four-bar)linkage is considered the simplest movable closed chain linkage. Itconsists of four bodies, called bars or links, connected in a loop byfour joints. Generally, the joints are configured so the links move inparallel planes.

The sets 308 a, 308 b, 310 a, 310 b of the upper and lower 4-barlinkages can be arranged in series with each other and joined orconnected by common element, such as a “floating” or movable torquereactor 312. An upper torque reactor 314, which can form part of each ofthe upper 4-bar linkages, can connect the remaining portions of theupper 4-bar linkages to a Trendelenburg axle mount 316 and aTrendelenburg actuator mount 318. In one embodiment, the upper torquereactor 314 can support and/or enclose a printed circuit board (PCB) 315(see FIGS. 10 and 12), which can contribute to allowing the surgeonand/or medical team to move or reposition the surgical table 100 and/orthe mechanism 302. At least one or two spaced-apart lower support mounts320 a, 320 b, which can form part of each of the lower 4-bar linkages,can connect (directly or indirectly) the remaining portions of the lower4-bar linkages to the base 400.

In one embodiment, the sets 310 a, 310 b of the lower 4-bar linkages canbe spaced at least slightly outwardly of the sets 308 a, 308 b of theupper 4-bar linkages. As a result, at least a portion of the sets 308 a,308 b of the upper 4-bar linkages can be positioned between at least aportion of the sets 310 a, 310 b of the lower 4-bar linkages. Thisconfiguration allows for the mechanism 302 to have a generally compactconfiguration when in a collapsed or compressed state (see FIGS. 10-13).

The second linkage system 306 (e.g., a cross link) can be formed fromtwo, three or more link bars 330 a, 330 b, 330 c connected in series anda lower support block 332 attached (directly or indirectly) to the base400 through any of a variety of means (e.g., screws, bolts, welding,etc.). The link bars 330 a, 330 b, 330 c of the second linkage system306 can be hinged or arranged to pivot such that the axels of each ofthe link bars 330 a, 330 b, 330 c extend perpendicularly to the axels ofthe upper and lower 4-bar linkages. The second linkage system 306 can bepositioned with respect to the first linkage system 304 such that themechanism has a generally compact configuration when in a collapsed orcompressed state (see FIGS. 10-13). This compact configuration allowsthe upper platform 102 to move downwardly closer to the ground surface104 than prior art equipment.

In operation of one embodiment of the presently disclosed technology,the motion of the 4-bar linkages can be restricted to motion in only thex and z planes (i.e., no motion in the y plane). The motion of the linkbars 330 a, 330 b, 330 c can be limited to motion in only the y and zplanes (i.e., no motion in the x plane). The first and second linkagesystems 304, 306 can be connected to each other at or by the uppertorque reactor 314 and/or at or by the base 400. In one embodiment, whencombined, the only motion permitted by the first and second linkagesystems 304, 306 is in the z axis (e.g., up and down). Thus, whencombined, first and second linkage systems can provide resistance to allmotion except the raising and lowering of the upper platform 102.

Vertical lift or upward force on or to the upper platform 102 can beprovided by a raising/lowering mechanism 350, such as lead screw orpiston, and/or an actuator or motor 352 operatively connected thereto.The raising/lowering mechanism 350 can be concentric and/or telescoping,and can be a threaded rod and nut, ball screw, or a roller screw. In oneembodiment, a concentric design having dual, parallel screws can beused. In another embodiment, dual concentric screws (i.e., 4 totalscrews) can be used and can be less expensive. In yet anotherembodiment, the raising/lowering mechanism 350 can be a push chain,which can be hinged to bend in one direction, but limited to bend inanother direction.

The raising/lowering mechanism 350 can be positioned within orsurrounded by the first and second linkage systems 304, 306. Thus, asthe raising/lowering mechanism 350 expands or collapses (e.g., throughrotation of a portion thereof), the first and second linkage systems304, 306 can expand or collapse around the raising/lowering mechanism350, thereby making an efficient and compact structure. In oneembodiment, the raising/lowering mechanism 350 and/or the actuator 352can provide all of the lift force to the upper platform 102, while thefirst and second linage systems 304, 306 can help reduce moment loadingand/or increase lateral stiffness or stability of the surgical table100.

FIGS. 14A-15 show embodiments of the table platform or first attachment500 with one or more other components of the system. The firstattachment 500 can be in the form of a head platform configured to beremovably attachable to at least a portion of the upper platform 102.The first attachment 500 can be configured to support at least a portionof a patient's head and/or upper body during a surgery. As mentionedabove, the system can also include one or more other platforms orattachments, each of which can be removably attachable to each otherand/or the upper platform 102 and can be configured or designed tosupport other portions of a patient (e.g., lower body or legs) during asurgery. In one embodiment, the first attachment 500, the secondattachment 800 and the third attachment 900 can each be an optionalpatient support segment designed to be removably attachable to aremainder of the surgical table. For example, as mentioned above, thefirst attachment 500 can be in the form of a removable head supportsection. The second attachment 800 can be in the form of a removableback support section, and the third attachment 900 can be in the form ofa removable leg or lower body support section.

FIGS. 14A-14D show the first attachment 500 with a drive assist userinterface module 508, which, as described in detail below, can providean operator with the ability to move, maneuver, position, and/orre-position the surgical table 100 quickly, easily and/or efficiently.Due to its position and configuration, the combination of the driveassist user interface module 508 and the first attachment 500 can alsoprovide the operator with increase comfort or a better “feel” for movingthe surgical table 100. In one embodiment, the drive assist userinterface module 508 can include one or more actuators that provide theability (e.g., through a motor) to selectively steer and/or adjust thespeed of the at least one drive wheel 600 of the surgical table 100. Forexample, drive assist user interface module 508 can be configured tocontrol the linear speed of the surgical table 100 (e.g., very slow(creep), medium, and fast) with respect to the ground surface 104 and/orthe direction (e.g., forward or reverse) of movement of the surgicaltable 100. The positioning of the combination of the drive assist userinterface module 508 and the first attachment 500 with respect to aremainder of the surgical table 100, the ergonomic nature of thecombination, and the functionality of the drive assist user interfacemodule 508 provides the operator with more control than is provided byprior art devices.

As described in detail below, the drive assist user interface module 508or one or more portions thereof can allow the operator (e.g., thesurgeon or any member of the medical team) to control movement of thesurgical table 100 with both hands firmly gripping the first attachment500 and/or the surgical table 100 at all times. With certain prior arttables, the operator's one hand must be holding a separate hand pendantor a unique module off to the side or above the table. In contrast, thedrive assist user interface module 508 of the presently disclosedtechnology can be always present on or with the surgical table 100, soan operator does not need to find and install an accessory, yet it canbe stowed or attached in a manner that has minimal or beneficial effecton usage of the surgical table 100.

The first attachment 500 can contain or be attached to drive assist userinterface module 508, and either or both can be formed of anylightweight and high strength material, such as a durable plastic, likeglass-filled nylon. The first attachment 500 can include a plate 502supported by at least one or two spaced-apart and parallel arms 504 a,504 b and a rail or cross-beam 506 connecting two ends of the arms 504a, 504 b. The plate 502 can include a top surface 502 a and an opposingbottom surface 502 b. When the first attachment 500 is properly attachedto a remainder of the surgical table 100, the plate 502 can be generallyco-planar with the upper platform 102. Each arm 504 a, 504 b can includea side rail 505 a, 505 b attached thereto and spaced at least slightlyoutwardly therefrom. The side rails 505 a, 505 b are omitted from FIGS.14C and 14D, as are certain other components of the presently disclosedtechnology, for clarity.

In one embodiment, the drive assist user interface module 508 can bepivotably and/or removably attachable with respect to at least a portionof the cross-beam 506. In another embodiment, the module 508 can beattached to arms 504 a, 504 b via one or more brackets or pivot points520 (see FIGS. 14B and 14C), such that the module 508 is pivotable aboutan axis that extends parallel to the cross-beam 506. Regardless of howit is attached to the first attachment, the drive assist user interfacemodule 508 can include the necessary electronics, power source (e.g.,batteries), actuators or buttons, latch magnet(s) and/or connector(s) toaccomplish the functionality described herein.

In one embodiment, the module 508 can be movable between a downward orstowed (e.g., non-use) position (see FIG. 14C) and an upward or useposition (see FIGS. 14A and 14B). In the deployed or use position, atleast a portion of the module 508 can wrap around and/or cover at leasta portion of the cross-beam 506. FIG. 14D shows the module 508 in aposition between the stowed and deployed positions. An electricalconnector 509 can extend outward from the module 508 and can beelectrically connected to a remainder of the surgical table 100 by meansof a cable or wire (not shown). Therefore, the connector 509 can beconfigured to permit power to be supplied to the one or more batteriesand communicate with the module 508 during initialization. However,during use of one embodiment of the surgical table 100, the cable andconnector 509 are removed from the surgical table 100. In oneembodiment, when the cable and connector 509 are attached to thesurgical table 100, the first attachment 500 can communicate withoutusing the wireless technology. This is useful in case where thebatteries (described in detail below) of the module 508 run out of powerprior to or during an intended movement of the surgical table 100.

The module 508 can include one or more spaced-apart connectionmechanisms 524 (see FIG. 14D), such as magnets, mechanical latches ordetents built into one or more of the components, that can be configuredand/or positioned to hold the module 508 in the use position against thecross-beam 506. Likewise, the connection mechanism(s) 524 or otherconnection mechanisms can be designed and/or configured to hold orotherwise support the module 508 in the stowed position.

Controls embedded in, attached to, or mounted on the module 508 and/orone or more actuators of the module 508 can be configured to sense thepresence of one or more of the connection mechanisms 524 (e.g., magnets)and create and automatic on/off switch. When the module 508 is deployedand when the connection mechanism(s) 524 is/are sensed, the capacitiveenable switch and wireless functionality can be active (e.g., drawingpower and being in an “on” state). When the module 508 is in the stowedposition (e.g., magnet(s) 524 not sensed), the power can be reduced orturned off. This can serve as both a safety feature and a power savingfeature.

In addition, the controls described above can allow the operator of thesurgical table 100 to selectively adjust table transport speed and/ordirection. For example, a capacitive switch or sensor 510, which can beseparate from or embedded within a printed circuit board (PCB) 511(shown schematically in FIG. 14D), can be located on or mounted to themodule 508. As understood by those of ordinary skill in the art,capacitive switches, like sensor 510, do not require physical actuation,only physical proximity.

In one embodiment, a palm grip 512 (sometimes referred to herein as a“first actuator” for convenience only) of the module 508 can be alignedwith and/or complement the switch 510 when the module 508 is properlyattached to and/or positioned with respect to the cross-beam 506.Engagement of the palm grip 512 by the operator (e.g., by the palm ofhis/her hand) can enable the switch 510, thereby allowing one or moremotion control buttons (described in detail below) to become active. Inone embodiment, the above engagement/activation alone does not move thesurgical table 100 or otherwise actuate the drive wheel(s) 600. Instead,in such an embodiment, the above engagement/activation can permit theoperator to move the surgical table 100 and/or actuate the drivewheel(s) 600 through a second or additional step (e.g., engagement of aseparate actuator).

In one embodiment, this configured provides an increased level ofsafety, which is not provided with a pendant commanded table). Forexample, in order for the operator's palm to be placed on the palm grip512, at least a portion of his/her fingers must extend through the holes518 and ideally will grip at least a portion of the first attachment500, thereby exerting control of the surgical table 100. In certainembodiments, the surgical table 100 can weigh as much as approximately900 lbs. unloaded, and as much as approximately 1500 lbs. with a patientthereon.

As shown in FIG. 14, the module 508 can include the one or more motioncontrol buttons, such as a second actuator 514, a third actuator 516,and a fourth actuator 517. All of the actuators 512, 514, 516, 517 canbe spaced-apart from each other. In one embodiment, the actuators 512,514, 516, 517 can be arranged such that while at least a portion of onehand of the operator's palm engages the first actuator 512, at least aportion of the operator's thumb can easily engage any of the second,third and fourth actuators 514, 516, 517. The size, shape and/orlocation of each of the actuators 512, 514, 516, 517 are not limited tothat shown in FIG. 14 and described herein. For example, instead of allof the actuators 512, 514, 516, 517 being located on a right handportion of the module 508, one or more of the actuators 512, 514, 516,517 can be located on a left hand portion of the module 508. The secondand third actuators 514, 516 can be momentary switches configured toinitiate or control forward and reverse, respectively, motion of thesurgical table 100 and/or the drive wheel(s) 600. The fourth actuator517 can be a momentary switch configured to initiate “fast forward”motion of the surgical table 100 and/or the drive wheel(s) 600.

In one embodiment, when either the palm grip 512 or one of the second,third or fourth actuators 514, 516, 517 is not engaged, contacted ordepressed, motion of the surgical table 100 and/or the drive wheel(s)600 is halted or stopped. In other words, if and when the operators“lets go” of the module 508 such that the first actuator is not engageor any of the second, third and fourth actuators 512, 514, 516, 517 arenot engaged, the surgical table 100 and/or the drive wheel(s) 600 brakesor stops moving. This arrangement safeguards against unwanted orunintended motion of the surgical table 100 and/or the drive wheel(s)600, unless the operator is firmly holding the module 508 at the firstactuator 512 and engaging one of the second, third, or fourth actuators514, 516, 517.

When not in use (e.g., when it is desired that the surgical table 100stay in one location for an extended period of time), the module 508 canbe folded or rotated downwardly with respect to a remainder of the firstattachment 500. Alternatively, in one embodiment, the module 508 can beseparated from a remainder of the first attachment 500. In oneembodiment, when the operator desires to move the module 508 from thestowed position (FIG. 14C) to the deployed position (FIG. 14A), theoperator can insert at least a portion of his/her hands through one ormore spaced-apart openings or cutouts 518 either (i) within the plate502 or (ii) between the plate 502 and the cross-beam 506 to flip orrotate the module 508 around the one or more brackets or pivot points520 (see FIGS. 14B and 14C). The module 508 can be moved between thestowed and the deployed configuration in a matter of seconds, and doesnot significantly add to the overall length of the surgical table 100 ineither configuration.

In one embodiment, the first attachment 500 and/or any of the otherattachments can operate in conjunction with and/or communicate with aseparate hand pendant and/or an auxiliary panel of the surgical table100. Radio frequency (RF), such as the ZigBee standard, can be used tocommunicate between the hand pendant, the first attachment 500 and/theauxiliary panel, for example. In one embodiment, the module 508 and/orthe first attachment 500 can include an imbedded wireless interfaceprinted circuit assembly (PCA), which can communicates with another,separate PCA in the surgical table 100 while the motion is beingcommanded by the operator. This technology can allow the hand pendant togive the operator an indication of the state of the drive assistmechanism 700 (such as deployed, enabled, active forward, activebackwards) and/or provide battery charge status of the first attachment500. In such an embodiment, the drive assist wheel 600 is not controlledvia the hand pendant; only the module 508 and/or the first attachment500 can control the drive wheel(s) 600. However, the presently disclosedtechnology is not limited to such an arrangement or configuration.

When not deployed (e.g., when the magnets 524 are not sensing contactwith the end rail 506), no power is consumed by the wireless board. Asmentioned above, the module 508 can include one or more batteries 526(see FIG. 14C) to provide power to the wireless board, the PCB 511, thesensor 510 and/or one or more of the actuators 512, 514, 516, 517.Recharging the batteries 526 can be accomplished via a cable, wire orcord of the detachable hand pendant (which can be stowed in the surgicaltable 100). In one embodiment, power to the wireless board, the PCB 511,the sensor 510 and/or one or more of the actuators 512, 514, 516, 517can be available while the cable is connected (in the event thatbatteries 526 are dead or out of charge).

Thus, the above-described technology, in one embodiment, provides theoperator with the ability to drive the surgical table 100 forward and/orbackwards, and/or steer with maximum leverage. The first attachment 500can be installed in and/or at either end (e.g., head or foot end) of thesurgical table 100, thereby allowing the operator to drive the surgicaltable 100 from either end thereof. To facilitate such functionality, thesurgical table 100 can automatically sense which end of the surgicaltable 100 the first attachment 500 is installed in or attached to, andcan automatically adjust the forward/reverse directions so they areappropriate to the orientation of the operator. No prior art deviceallows this total level of ergonomic control.

Referring again to FIGS. 14A-15, free ends of each arm 504 a, 504 b ofthe first attachment 500 (e.g., opposite the module 508 and cross-beam506) can include at least one projection 522 a, 522 b designed to bereceived in at least one receptacle or socket of a remainder of (e.g.,the upper platform 102) the surgical table 100. The receptacles can bepositioned or located in the upper platform 102, for example. Eachprojection 522 a, 522 b can include a tab or latch 534 a, 534 b that canbe rotatable about an axis 536 extending generally perpendicularly to aplane defined by the plate 502 of the first attachment 500. At least aportion of each tab 534 a, 534 b can be configured to engage a portionof an interior of the receptacle. It is understood by those skilled inthe art that the above-described arrangement could be reversed (e.g., areceptacle in each arm 504 a, 504 b receives at least a portion of aprojection from a reminder of the surgical table 100) withoutcompromising the functionality described herein.

In embodiment, the surgical table 100 can employ a few differenttechnologies in a few different locations. For example, in oneembodiment, the surgical table 100 can employ one or more tri-axismagnetic sensors. These sensors can detect the presence of a magnet, aswell as its relative location along an arc. In particular, in oneembodiment, one or more permanent magnets 544 (shown schematically inFIG. 15) can be positioned at or about the pivot axis of each gear 528(described in detail below) on or in the first attachment 500. Moreparticularly, in one embodiment, a metal flange, which can be positionedon a spindle between the respective gear 528 and a hex nut 546, cancontain the permanent magnet 544. The tri-axis magnetic sensor(s) can bemounted in the distal end of the back and leg sections of the second andthird attachments 800, 900, and positioned close enough to the magnetlocation so they are capable of (i) detecting the presence of theattachment and (ii) identifying or reading the angle of rotation or theangle at which the attachment is attached. In one embodiment, tri-axialmagnetic sensor technology is employed on two or more or even allremovable attachments 500, 800, 900, even when module 508 is notinstalled or in use.

Tri-axial magnetic sensing technology can be employed in or by theprojections 522 a, 522 b and the receptacles to allow the components tobe sensed by the surgical table 100. Thus, at least one of receptaclesis able to sense (i) the presence of, (ii) engagement with, and/or (iii)the angle of insertion (described in detail below) with respect to therespective the projections 522 a, 522 b, or vice-versa. One or morepermanent magnets can be positioned on the rotatable portion of thefirst attachment 500 near one or both of the projections 522 a, 522 b.One or more tri-axial magnetic sensors can be mounted in or on one ormore of the receptacles. The tri-axial magnetic sensor(s) can sense thepresence and determine the angular position of the permanent magnet(s),and thereby determine the adjustment angle of the attachment 500, asunderstood by those skilled in the art. This sensing is able to becompleted wirelessly, which allows the first attachment 500 to becompletely removed and separated from a remainder of the surgical table100.

Referring to specifically FIG. 15, a free end of each arm 504 a, 504 bcan include a gear-and-prong system. The gear-and-prong system canpermit the projection 522 a, 522 b to be held at a specific angle withrespect to the plate 502 and/or be rotated or otherwise moved withrespect to the plate 502 and then held at that angle. More particularly,at least a portion of each projection 522 a, 522 b can be fixed withrespect to a gear 528. The gear 528 can include a plurality ofspaced-apart teeth extending around an entire circumference thereof.Alternatively, the teeth of the gear 528 can be located on only aportion of the circumference thereof. A prong 530 and a spring 532 canbe positioned within a portion of the arm 504 a, 504 b. The spring 532can surround at least a portion of the prong 530 and engage the prong530 to bias the prong 530 to move toward and into engagement with thegear 528. The opposite end of the prong 530 can mate with or be fixedlyattached to a bracket 540, which is able to slide with respect to thearm 504 a, 504 b. An angle adjust/release handle 542 can attach tobracket 540 on either side of the first attachment 500. The operator oruser is able to reach under the top surface 502 of the first attachment,grip the angle adjust/release handle 542, and pull. This action cancause the respective prong 530 to disengage from the gear 528. When theoperator releases the angle adjust/release handle 542, the springs 532a, 532 b cause the prongs 530 a, 530 b to reengage with the gear 528 andlock into a new position or angle.

As a result of the above combination of features, the top surface 502 ofthe first attachment 500 can have multiple configurations or positionswith respect to the top surface of the upper platform 102. For example,the top surface 502 of the first attachment 500 can extend at an angle(e.g., adjusted upward or downward from zero up to ninety degrees) withrespect to the top surface of the upper platform 102, even while thefirst attachment 500 is secured to the upper platform 102. In anotherembodiment (not shown), the top surface 502 of the first attachment 500can extend parallel to, but not necessarily be coplanar with, the topsurface of the upper platform 102. For example, in such an embodiment,the upper platform 102 or the first attachment 500 could still allowangular adjustments and the first attachment 500 could still include thedrive assist module.

The surgical table 100 is also configured to use radio-frequencyidentification (RFID), or another identification protocol. As describedin more detail below, RFID technology can be employed at the interfacesbetween upper platform 102 and any of the removable attachments. In oneembodiment, RFID technology can be used with the back and leg segmentsor attachments 800, 900, but also options such as an imaging board. RFIDtags are capable of transmitting serialized information, so the systemcan use RFID tags to determine exactly what is attached in eachlocation. With this technology, the system can also pass a limitedamount of power to the distal device to drive sensors. In oneembodiment, RFID technology is employed on two or more or even all ofthe removable attachments 500, 800, 900, even when module 508 is notinstalled or in use.

Referring to FIGS. 16-18, in one example, the upper platform 102 oranother portion of the surgical table 100 can include two or morespaced-apart sockets 850 a, 850 b. Each socket 850 a, 850 b can besized, shaped and/or or configured to receive at least a portion of anextension 852 a, 852 b of one of the second attachment 800. The RFIDtechnology can allow the respective socket 850 and extension 852 tocommunicate with each other and/or remaining portions of the surgicaltable 100. In particular, at least one of sockets 850 a, 850 b and/orthe extensions 852 a, 852 b is able to sense (i) the presence of, (ii)engagement with, and/or (iii) the angle of insertion.

One or more RFID tags and/or readers can be positioned in or on one orboth of the extensions 852 a, 852 b and/or in or on one or more of thesockets 850 a, 850 b. The tag(s) and reader(s) can communicate orexchange information, as understood by those skilled in the art. Thissensing is able to be completed wirelessly. More particularly, in oneembodiment, one or each extension 852 a, 852 b can include a first or“smart” RFID tag 854, which is capable of transmitting power. Eachsocket 850 a, 850 b can include a board or second RFID tag 856. Thepresently disclosed technology is not limited to the inclusion of“smart” RFID tags, as it could employ “dumb” RFID tags, which do nottransmit power.

As understood by those skilled in the art, the presently-disclosedtechnology provides for intelligent detection of one or more of theattachments. More specifically, due to the use of RFID technology, thesurgical table 100 is able to detect not only the presence of anattachment that was not previously attached, but also to identify,specifically, which attachment that is (i.e., the second attachment 800)and the orientation of that component (e.g., the second attachment 800is being attached at the foot end side of the surgical table 100 and/orthe angle of the second attachment 800 with respect to the upperplatform 102). Furthermore, the information obtained from the RFIDtechnology can be used to improve the accuracy of a collision detectionalgorithm. As mentioned above, the RFID technology also transfers powerwirelessly, which is one way to energize the tri-axial magnetic sensor.The RFID technology thus allows the surgical table 100 to sense (i)presence and (ii) position of two serial distal segments wirelessly.This is more than simply a proximity sensor, which is only capable ofrealizing that some component is attached, but not the orientation ofthat component.

FIGS. 19-24 show details of one embodiment of the base 400 of thepresently disclosed technology. The base 400 can be formed of a stage402 that can accommodate and/or support a plurality of components. Thecomponents can include (i) the drive assist mechanism 700 having the oneor more drive wheels 600, (ii) three, four or more spaced-apart casterwheels 404, and/or (iii) one, two, four or more spaced-apart loadsensing/floor lift mechanisms 406. The stage 402 can include one or morecut-outs or openings 403 (see FIGS. 19-21A) therein that are size,shaped and/or configured to accommodate the drive wheel(s) 600. In oneembodiment, each opening 403 be near a head end of the surgical table100 and centered laterally. In alternative embodiments, each opening 403and drive wheel 600 could be positioned at or near a center of the stage403, or the drive wheel 600 could be two wheels out-board of the stage.In one embodiment, each drive wheel 600 does not pivot or castor.However, in another embodiment, each drive wheel 600 includes thisfunctionality.

As shown in FIGS. 21B and 21C, the drive assist mechanism 700 is capableof moving the drive wheel(s) 600 into and out of engagement with theground surface 104, so as to permit or prevent the drive wheel(s) 600from moving the surgical table 100. The drive assist mechanism 700 caninclude at least one motor, which can be in communication with themodule 508, to selectively effectuate this rotation or slight pivot ofthe drive wheel(s) 600. The drive assist mechanism 700 can employ aspring suspension system. So when the mechanism 700 has moved the drivewheel 600 into the downward or engaged position, even though, in oneembodiment, the drive wheel 600 is the fifth wheel contacting the groundsurface 104, the spring suspension system always forces the drivewheel(s) 106 downward to make frictional contact with the ground surface104.

During transport, the surgical table 100 can roll on the caster wheel(s)404, while at least a portion (e.g., a support foot, described in detailbelow) of each load sensing/floor lift mechanism 406 can be retracted toa protected position and/or raised off of the ground surface 104. Duringnon-transport conditions, such as surgery or storage, at least a portionof each load sensing/floor lift mechanism 406 can be extended so as tocontact the ground surface 104, and at least slightly lift the base 400off the ground surface 104, thereby preventing the caster wheel(s) 404from contacting the ground surface 104, and in turn preventing thesurgical table 100 to be moved via the caster wheel(s) 404.

Each load sensing/floor lift mechanism 406 can include a support foot408 with a rubberized bottom surface 410. The bottom surface 410 canprovide a high coefficient of friction to the support foot 408, so thatthe support foot 408 can hold the surgical table 100 securely in placewhen the support foot 408 is in the extended or lifted position. Inoperation, when the support foot 408 is actuated, the support foot 408can move downwardly (e.g., generally perpendicularly to a plane definedby the upper platform 102), first making contact with the ground surface102. As the support foot 408 is further actuated, the support foot 408can lift the surgical table 100, and in turn at least slightly lift therespective caster wheel 404 off of the ground surface 104.

Referring to FIGS. 22-24, each load sensing/floor lift mechanism 406 caninclude a vertical shaft 412 mounted within a vertical shaft busing 414.An upper end of the shaft 412, which can be threaded, can engage athreaded nut 415. The nut 415 can be contained in a housing by one ormore radial bearings 416 and/or one or more thrust bearings 418. In oneembodiment, the radial and thrust bearings 416, 418 can allow the nut415 to rotate about a vertical axis, while all other degrees-of-freedomcan be constrained. A transmission device, such as a timing belt pulleyor gears, can be attached to the nut 415 and/or the vertical shaft 412.In one embodiment, a motor or gear motor 422 and a drive pulley can bemounted in a parallel axis to the vertical shaft 415 and connectedthereto via a timing belt 424 (or gear train). In operation of oneembodiment, when the motor 422 is energized, the shaft 412 can be keyedto drive in an upward or downwards direction, but not rotated.

A load cell support beam 426 can be attached to a lower portion of theshaft 412. The load cell support beam 426 can be a passive member thatsupports a cantilevered load cell beam 428. The support foot 408 can bemounted to the distal end of the load cell beam 428. The load cell beam428 can include or be operatively connected to one or more sensors, suchas strain gages, designed and/or oriented to measure the strain in theload cell beam 428 when vertical forces are applied. With propercalibration, this combination provides an accurate measure of theapplied force on the load cell beam 428, and thereby allows the user toknow the amount of applied force applied to at least a portion of thesurgical table 100.

More particularly, in one embodiment, with four such devices, mountedgenerally at the (e.g., four) corners of the surgical table 100 and withthe surgical table 100 lifted at least slightly off the ground surface104 due to the extended support feed 408, an accurate reading of weightof the surgical table 100 (including patient and accessories) can beobtained. In addition, since the applied force at each corner of thesurgical table 100 is known, the stability of the surgical table 100 canbe determined. For example, if at least a portion of the upper platform102 is extended in the horizontal plane, more weight will be transferredto one end of the base 400, thereby increasing the applied force on twoload cell sensors, while simultaneously reducing the force on the othertwo sensors. A stability algorithm can be applied, which can set athreshold for minimal force necessary to achieve stability during normaloperating room procedures (to account for disturbance forces exerted bysurgeon or staff).

In one embodiment, as shown in FIGS. 22 and 23, the load cell beam 428and the load cell support beam 426 can have an identical or nearlyidentical length, and/or can be aligned such that the shaft 412 andsupport foot 408 are coaxially aligned. Such an arrangement can serve toeliminate or reduce moment loads being applied to the shaft 412 so thesimple bushing 414 can be employed to minimize friction drag. However,such an arrangement is not required for the surgical table 100 and/orthe load sensing/floor lift mechanism 406 to function as intended ordescribed herein.

In one embodiment, the lift actuation algorithm can independently and/orseparately drive each support foot 408 to the ground surface 104. Eachmotor 422 can drive its respective support foot 408 downwardly until apredetermined current value is achieved. In one embodiment, this currentvalue can be sufficiently high so as to exceed any expected friction inthe drive, but does not generate enough torque to lift the surgicaltable 100 off of the ground surface 104. In this manner, the position ofthe ground surface 104 can be independently sensed by each loadsensing/floor lift mechanism 406. For example, if a tile of the groundsurface 104 is missing in one location, the associated support foot 408would be driven further than the other three support feet 408. Once allfour support feet 408 have found or contacted the ground surface 104,the algorithm can then simultaneously drive all four lift assemblies.

As shown in FIG. 24, an encoder wheel 430 and an optical sensor 432 canbe used to drive each support foot 408 a predetermined distance at thesame or substantially the same velocity, thereby at least slightlylifting the surgical table 100 to an operative height (e.g., a height inwhich each of the caster wheels 404 is lifted off the ground surface104) in a smooth, uniform manner. Upon release, the motor 422 can drivethe shaft 412 in the opposite direction until each support foot 408 isfully retracted (e.g., such that each caster wheel 404 contacts theground surface and causes each support foot 408 to disengage the groundsurface 104). The system can be configured to provide feedback (e.g.,visual through a monitor, audio through speakers, etc.) to the operatorof its position or reposition, or of the load and/or the location of theload applied thereto.

One or more of the above-described techniques and/or embodiments may beimplemented with or involve software, for example modules executed onone or more computing devices 210 (see FIG. 25). Of course, modulesdescribed herein illustrate various functionalities and do not limit thestructure or functionality of any embodiments. Rather, the functionalityof various modules may be divided differently and performed by more orfewer modules according to various design considerations.

Each computing device 210 may include one or more processing devices 211designed to process instructions, for example computer readableinstructions (i.e., code), stored in a non-transient manner on one ormore storage devices 213. By processing instructions, the processingdevice(s) 211 may perform one or more of the steps and/or functionsdisclosed herein. Each processing device may be real or virtual. In amulti-processing system, multiple processing units may executecomputer-executable instructions to increase processing power. Thestorage device(s) 213 may be any type of non-transitory storage device(e.g., an optical storage device, a magnetic storage device, a solidstate storage device, etc.). The storage device(s) 213 may be removableor non-removable, and may include magnetic disks, magneto-optical disks,magnetic tapes or cassettes, CD-ROMs, CD-RWs, DVDs, BDs, SSDs, or anyother medium which can be used to store information. Alternatively,instructions may be stored in one or more remote storage devices, forexample storage devices accessed over a network or the internet.

Each computing device 210 additionally may have memory 212, one or moreinput controllers 216, one or more output controllers 215, and/or one ormore communication connections 240. The memory 212 may be volatilememory (e.g., registers, cache, RAM, etc.), non-volatile memory (e.g.,ROM, EEPROM, flash memory, etc.), or some combination thereof In atleast one embodiment, the memory 212 may store software implementingdescribed techniques.

An interconnection mechanism 214, such as a bus, controller or network,may operatively couple components of the computing device 210, includingthe processor(s) 211, the memory 212, the storage device(s) 213, theinput controller(s) 216, the output controller(s) 215, the communicationconnection(s) 240, and any other devices (e.g., network controllers,sound controllers, etc.). The output controller(s) 215 may beoperatively coupled (e.g., via a wired or wireless connection) to one ormore output devices 220 (e.g., a monitor, a television, a mobile devicescreen, a touch-display, a printer, a speaker, etc.) in such a fashionthat the output controller(s) 215 can transform the display on thedisplay device 220 (e.g., in response to modules executed). The inputcontroller(s) 216 may be operatively coupled (e.g., via a wired orwireless connection) to an input device 230 (e.g., a mouse, a keyboard,a touch-pad, a scroll-ball, a touch-display, a pen, a game controller, avoice input device, a scanning device, a digital camera, etc.) in such afashion that input can be received from a user.

The communication connection(s) 240 may enable communication over acommunication medium to another computing entity. The communicationmedium conveys information such as computer-executable instructions,audio or video information, or other data in a modulated data signal. Amodulated data signal is a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal. By way of example, and not limitation, communicationmedia include wired or wireless techniques implemented with anelectrical, optical, RF, infrared, acoustic, or other carrier.

FIG. 25 illustrates the computing device 210, the output device 220, andthe input device 230 as separate devices for ease of identificationonly. However, the computing device 210, the display device(s) 220,and/or the input device(s) 230 may be separate devices (e.g., a personalcomputer connected by wires to a monitor and mouse), may be integratedin a single device (e.g., a mobile device with a touch-display, such asa smartphone or a tablet), or any combination of devices (e.g., acomputing device operatively coupled to a touch-screen display device, aplurality of computing devices attached to a single display device andinput device, etc.). The computing device 210 may be one or moreservers, for example a farm of networked servers, a clustered serverenvironment, or a cloud services running on remote computing devices.

It will be appreciated by those skilled in the art that changes could bemade to the embodiments described above without departing from the broadinventive concept thereof. For example, various mechanical andelectrical connection elements and actuators can be used to achieve thedisclosed function. It is understood, therefore, that this invention isnot limited to the particular embodiments disclosed, but it is intendedto cover modifications within the spirit and scope of the presentinvention as defined by the appended claims.

1-20. (canceled)
 21. A system for supporting or positioning a patient,comprising: a platform of a surgical table configured to support atleast a portion of the patient; a base positioned beneath the platformand configured to support the platform, the base configured to contact aground surface and the platform movable vertically relative to the base;wherein the base comprises a load-sensing lift mechanism comprising: asupport foot, a caster wheel, a motor configured to raise and lower thesupport foot, a vertical shaft connecting the support foot to the motor,a load cell support beam mounted to the vertical shaft, and a load cellbeam connected to the support foot and cantilevered from the load cellsupport beam, the load cell beam comprising one or more sensors formeasuring applied vertical forces, wherein the motor is configured toraise the support foot to a retracted position with the caster wheelcontacting a ground surface, and the motor is configured to lower thesupport foot to an extended position to prevent the caster wheel fromcontacting a ground surface.
 22. The system of claim 21, the sensorcomprising a strain gage measuring the strain in the load cell beam whenvertical forces are applied.
 23. The system of claim 21, theload-sensing lift mechanism comprising two or more load-sensing liftmechanisms configured to level the base on an uneven ground surface,each load-sensing lift mechanism configured to independently sense thedistance to a ground surface and independently drive its associatedsupport foot to the ground surface.
 24. The system of claim 21, theload-sensing lift mechanism comprising two or more load-sensing liftmechanisms, the system configured to independently drive each supportfoot of the load-sensing lift mechanisms downwardly until apredetermined current value is achieved, the current value correspondingto contact with a ground surface.
 25. The system of claim 24, whereinafter the predetermined current value is achieved, the system isconfigured to simultaneously drive each support foot.
 26. The system ofclaim 21, the load-sensing lift mechanism comprising two or moreload-sensing lift mechanisms, the system comprising an encoder wheel andan optical sensor that are configured to independently drive eachsupport foot of the load-sensing lift mechanisms downwardly to apredetermined distance.
 27. The system of claim2 1, the support footmounted to a distal end of the load cell beam, and the support footcoaxially aligned with the vertical shaft.
 28. The system of claim 21,the support foot comprising a rubberized bottom surface.
 29. A systemfor supporting or positioning a patient, comprising: a platform of asurgical table configured to support at least a portion of the patient;and a base; wherein the base comprises four load-sensing lift mechanismsspaced about the base, the load-sensing lift mechanisms comprising: asupport foot, a motor configured to raise and lower the support foot, avertical shaft extending from the support foot and mounted within avertical shaft bushing, and a load cell beam attached to a lower portionof the vertical shaft and the support foot, the load cell beam beingcantilevered relative to the vertical shaft and comprising one or moresensors for measuring applied vertical forces, wherein the motor isconfigured to raise the support foot to a retracted position notcontacting a ground surface, and the motor is configured to lower thesupport foot to an extended position contacting a ground surface. 30.The system of claim 29, the sensor comprising a strain gage measuringthe strain in the load cell beam when vertical forces are applied. 31.The system of claim 29, the load-sensing lift mechanism comprising aload cell support beam configured to support the load cell beam.
 32. Thesystem of claim 31, wherein a proximal end of the load cell support beamis mounted to the lower portion of the vertical shaft, and the load cellbeam is indirectly mounted to the vertical shaft and located directlybelow the load cell support beam.
 33. The system of claim 32, the loadcell beam comprising a proximal end and a distal end, and the load cellsupport beam comprising a distal end, the proximal end of the load cellbeam mounted to the distal end of the load cell support beam away fromthe vertical shaft, and the support foot mounted to the distal end ofthe load cell beam.
 34. The system of claim 31, the load cell supportbeam being nearly identical in length to the load cell beam.
 35. Thesystem of claim 31, the load cell support beam and the load cell beambeing aligned such that the vertical beam and the support foot arecoaxially aligned.
 36. The system of claim 29, the four load-sensinglift mechanisms being mounted generally at the four corners of thesurgical table.
 37. The system of claim 29, the system configured toread the weight on the surgical table using vertical force measurementsfrom the sensors at each of the load-sensing lift mechanisms.
 38. Thesystem of claim 29, the sensors configured to provide load data suitableto evaluate the surgical table stability by evaluating the distributionof forces on each load-sensing lift mechanism.
 39. The system of claim29, wherein the at least one load-sensing lift mechanism comprises atransmission device configured to selectively raise or lower thevertical shaft in a vertical direction, the transmission device selectedfrom one or more of the group consisting of: a drive pulley, a motor, atiming belt pulley, and gears.
 40. The system of claim 29, wherein thevertical shaft of the load-sensing lift mechanism is secured at an upperend to one or more of a radial bearing and a thrust bearing to allow forrotation of the vertical shaft.